Vehicle control device, vehicle control computer program, and vehicle control method

Abstract

To provide a vehicle control device which reduces a driver's feeling of discomfort about speed control of an own vehicle when movement control is performed to move the own vehicle to the outside of a blind area of another vehicle.SOLUTION: A vehicle control device includes: a first determination unit which, on the basis of information indicating an environment around an own vehicle, determines whether the own vehicle is located in a blind area of another vehicle; a first decision unit which, when it has been determined that the own vehicle is located in the blind area of the another vehicle, decides to start movement control to move the own vehicle to the outside of the blind area of the another vehicle by changing a speed of the own vehicle in a predetermined direction; a second determination unit which, during execution of the movement control, on the basis of information indicating action of a driver of the own vehicle, determines whether operation for changing the speed of the own vehicle has been executed by the driver in a direction opposite to the predetermined direction; and a second decision unit which decides to end the movement control when it has been determined that the operation for changing the speed of the own vehicle has been executed by the driver.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a vehicle control device, a vehicle control computer program, and a vehicle control method.

Background Art

[0002] An automatic control system mounted on a vehicle generates a navigation route of the host vehicle based on the current position of the host vehicle, the destination position of the host vehicle, and a navigation map. The automatic control system estimates the current position of the host vehicle using map information and controls the host vehicle to travel along the navigation route.

[0003] The automatic control system controls the running of the vehicle so that a safe distance is maintained between the host vehicle and other vehicles. For example, the automatic control system controls the speed of the host vehicle to maintain a safe distance between the host vehicle and other vehicles.

[0004] In addition, when the automatic control system determines that the host vehicle is located in a blind spot area of another vehicle traveling in an adjacent lane, the automatic control system controls the host vehicle to move from the blind spot area to outside the blind spot area by decelerating or accelerating the host vehicle. Thereby, the automatic control system moves the host vehicle from a blind spot area that is difficult to be recognized by other vehicles to ensure the safety of the host vehicle (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] For example, assume that an automatic control system decelerates the host vehicle to move the host vehicle from the blind spot area of another vehicle to outside this blind spot area. However, if the driver intends to emerge in front of the other vehicle, the driver may feel uncomfortable with the speed control of the host vehicle and may operate to accelerate contrary to the speed control by the automatic control system.

[0007] In this case, even if the driver attempts to operate the speed contrary to the speed control of the host vehicle by the automatic control system, there is a problem that the automatic control system continues the speed control for moving outside the blind spot area.

[0008] Therefore, an object of the present disclosure is to provide a vehicle control device that reduces a driver's discomfort with respect to the speed control of the host vehicle when performing movement control for moving the host vehicle from the blind spot area of another vehicle to outside the blind spot area.

Means for Solving the Problem

[0009] (1) According to one embodiment, a vehicle control device is provided. This vehicle control device includes: a first determination unit that determines whether the host vehicle is located in the blind spot area of another vehicle based on information representing the surrounding environment of the host vehicle; a first determination unit that, when it is determined that the host vehicle is located in the blind spot area of another vehicle, determines to start movement control for moving the host vehicle from the blind spot area of the other vehicle to outside the blind spot area by changing the speed of the host vehicle in a predetermined direction; a second determination unit that determines whether an operation to change the speed of the host vehicle by the driver is performed in a direction opposite to the predetermined direction based on information representing the operation of the driver of the host vehicle during the execution of the movement control determined to be started by the first determination unit; and a second determination unit that, when it is determined by the second determination unit that an operation to change the speed of the host vehicle by the driver is performed, determines to end the movement control.

[0010] (2) In the vehicle control device of (1), when it is determined by the second determination unit that an operation to change the speed of the host vehicle has been executed by the driver, when the speed of the host vehicle is changed by the driver's operation and the host vehicle moves from the blind spot area of another vehicle to outside the blind spot area, a third determination unit determines whether a predetermined inter-vehicle distance can be maintained between the host vehicle and a second other vehicle traveling on the lane on which the host vehicle is traveling. When it is determined by the third determination unit that a predetermined inter-vehicle distance cannot be maintained between the second other vehicle and the host vehicle, it is preferable that the second determination unit determines to continue without ending the movement control.

[0011] (3) In the vehicle control device of (1) or (2), when the second determination unit determines that an operation to set the speed of the host vehicle has been executed by the driver in a direction opposite to a predetermined direction, it is preferable that the second determination unit determines that an operation to change the speed of the host vehicle has been executed by the driver.

[0012] (4) In the vehicle control device of (3), when the second determination unit determines that the driver is gripping the steering wheel or gazing at the speed display unit, and an operation to set the speed of the host vehicle has been executed by the driver in a direction opposite to a predetermined direction, it is preferable that the second determination unit determines that an operation to change the speed of the host vehicle has been executed by the driver.

[0013] (5) According to another embodiment, a vehicle control computer program is provided. This vehicle control computer program determines whether the host vehicle is located in the blind spot area of another vehicle based on information representing the surrounding environment of the host vehicle. When it is determined that the host vehicle is located in the blind spot area of another vehicle, it is determined to start movement control to move the host vehicle from the blind spot area of the other vehicle to outside the blind spot area by changing the speed of the host vehicle in a predetermined direction. During the execution of the movement control, based on information representing the operation of the driver of the host vehicle, it is determined whether an operation to change the speed of the host vehicle has been executed by the driver in a direction opposite to a predetermined direction. When it is determined that an operation to change the speed of the host vehicle has been executed by the driver, the movement control is terminated, and the processor is caused to execute a process including this.

[0014] (6) According to another embodiment, a vehicle control method is provided. In this vehicle control method, a vehicle control device determines whether the host vehicle is located in a blind spot area of another vehicle based on information representing the surrounding environment of the host vehicle. When it is determined that the host vehicle is located in the blind spot area of another vehicle, the vehicle control device decides to start movement control to move the host vehicle out of the blind spot area of the other vehicle by changing the speed of the host vehicle in a predetermined direction. During the execution of the movement control, based on information representing the operation of the driver of the host vehicle, it is determined whether an operation to change the speed of the host vehicle in the direction opposite to the predetermined direction has been executed by the driver. When it is determined that an operation to change the speed of the host vehicle has been executed by the driver, the movement control is terminated.

Advantages of the Invention

[0015] After starting movement control to move the host vehicle out of the blind spot area of another vehicle by changing the speed of the host vehicle, when an operation to change the speed of the host vehicle in the opposite direction is executed by the driver, the vehicle control device according to the present disclosure terminates the movement control. Therefore, it is possible to reduce the driver's sense of discomfort with respect to the speed control of the host vehicle.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0017] FIG. 1(A) and FIG. 1(B) illustrate an overview of the operation of the operation planning device 15 according to this embodiment. FIG. 1(A) is a diagram showing the vehicle 10 located in a blind spot area, and FIG. 1(B) is a diagram showing the driver 40 inside the vehicle cabin 30.

[0018] As shown in FIG. 1(A), the vehicle 10 is traveling on the road 50. The road 50 has two lanes 51 and 52. The lane 51 and the lane 52 are demarcated by a lane demarcation line (lane boundary line) 53. The vehicle 10 is traveling in the lane 51. In the adjacent lane 52 adjacent to the lane 51, another vehicle 60 is traveling.

[0019] The vehicle 10 has an operation planning device 15. The vehicle 10 has an automatic driving mode in which the vehicle 10 is automatically controlled mainly by the vehicle 10 itself, and a manual driving mode in which the driver 40 mainly drives the vehicle 10. Currently, the vehicle 10 is being controlled in the automatic driving mode. The vehicle 10 may be an autonomous vehicle. The operation planning device 15 is an example of a vehicle control device.

[0020] In the manual driving mode, inside the vehicle cabin 30, the driver 40 seated on the driver's seat 31 operates the steering wheel 32, the accelerator pedal 33, or the brake pedal 34 to mainly drive the vehicle 10 by the driver 40.

[0021] Based on information output from the camera 2a and the LiDAR sensor 3a, etc., the driving plan device 15 determines that the vehicle 10 is located in the blind spot area D of the vehicle 60. The vehicle 10 located in the blind spot area D is difficult to be recognized by the driver driving the vehicle 60 or a sensor (not shown) of the vehicle 60.

[0022] Therefore, the driving plan device 15 decides to start movement control to move the vehicle 10 from the blind spot area D of the vehicle 60 to outside this blind spot area D by changing the speed of the vehicle 10 in a predetermined direction.

[0023] For example, the driving plan device 15 decides to start controlling the movement of the vehicle 10 so as to decelerate the vehicle 10 and move it behind the blind spot area D of the vehicle 60.

[0024] On the other hand, since the driver 40 wanted to get in front of the vehicle 60, the driver felt a sense of discomfort with the speed control of the vehicle 10 and operated to accelerate the vehicle 10. For example, the driver 40 operated the accelerator pedal 33 to try to accelerate the vehicle 10.

[0025] Since the driving plan device 15 has detected that the driver 40 has changed the speed of the vehicle 10 in the direction opposite to the direction in which the speed of the vehicle 10 changes due to the movement control, the driving plan device 15 decides to end the movement control.

[0026] The vehicle 10 accelerates the vehicle 10 in the automatic driving mode based on the operation of the accelerator pedal 33 by the driver 40. The vehicle 10 advances in the lane 51, overtakes the vehicle 60 on the lane 52, and moves out of the blind spot area D of the vehicle 60.

[0027] As described above, after the driving plan device 15 of the present embodiment starts movement control to move the vehicle 10 outside the blind spot area D of the vehicle 60 by changing the speed of the vehicle 10, if the driver 40 performs an operation to change the speed of the vehicle 10 in the opposite direction, the movement control is ended. Thereby, the driving plan device 15 of the present embodiment can reduce the driver 40 from feeling a sense of discomfort with the speed control of the vehicle 10.

[0028] Figure 2 is a hardware configuration diagram of a vehicle 10 in which a vehicle control system 1 including a driving plan device 15 is implemented. The vehicle 10 includes cameras 2a and 2b, LiDAR sensors 3a and 3b, a positioning information receiver 4, a navigation device 5, a user interface (UI) 6, a monitoring camera 7, a vehicle speed sensor 8, a map information storage device 11, a position estimation device 12, an object detection device 13, a travel lane planning device 14, a driving plan device 15, a vehicle control device 16, a steering wheel 32, an accelerator pedal 33, a brake pedal 34, and the like. Further, the vehicle control system 1 may have other distance measuring sensors (not shown) for measuring the distance to an object around the vehicle 10, such as a radar sensor.

[0029] The cameras 2a and 2b, the LiDAR sensors 3a and 3b, the positioning information receiver 4, the navigation device 5, the UI 6, the monitoring camera 7, the vehicle speed sensor 8, the map information storage device 11, the position estimation device 12, the object detection device 13, the travel lane planning device 14, the driving plan device 15, the vehicle control device 16, the steering wheel 32, the accelerator pedal 33, and the brake pedal 34 are communicably connected via an in-vehicle network 17 compliant with a standard such as a controller area network.

[0030] Cameras 2a and 2b are an example of an imaging unit provided in vehicle 10. Camera 2a is attached to vehicle 10 so as to face the front of vehicle 10. Camera 2b is attached to vehicle 10 so as to face the rear of vehicle 10. Each of cameras 2a and 2b captures a camera image representing the environment of a predetermined area in front of or behind vehicle 10 at a camera image capture time set, for example, at a predetermined cycle. The camera image may represent a road included in a predetermined area in front of or behind vehicle 10 and road features such as lane dividing lines on the road surface. Other vehicles located at the left front, front, and right front of vehicle 10 may be represented in the camera image captured by camera 2a. Other vehicles located at the left rear, rear, and right rear of vehicle 10 may be represented in the camera image captured by camera 2b. Cameras 2a and 2b include a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD or a C-MOS, and an imaging optical system that forms an image of an area to be imaged on the two-dimensional detector.

[0031] Each time cameras 2a and 2b capture a camera image, they output the camera image and the camera image capture time at which the camera image was captured to the position estimation device 12, the object detection device 13, etc. via the in-vehicle network 17. The camera image is used in the position estimation device 12 for processing to estimate the position of vehicle 10. Also, the camera image is used in the object detection device 13 for processing to detect other objects around vehicle 10. The camera image is an example of information representing the surrounding environment of vehicle 10.

[0032] Each of the LiDAR sensors 3a and 3b is attached to, for example, the outer surface of the vehicle 10 so as to face the front or rear of the vehicle 10. Each of the LiDAR sensors 3a and 3b emits a pulsed laser beam so as to scan the front and rear of the vehicle 10 at a reflection wave information acquisition time set at a predetermined cycle, and receives the reflected wave reflected by the reflecting object. The time required for the reflected wave to return has distance information between the vehicle 10 and other objects or the like located in the direction in which the laser beam is irradiated. Each of the LiDAR sensors 3a and 3b outputs the reflected wave information including the irradiation direction of the laser beam and the time required for the reflected wave to return, together with the reflection wave information acquisition time when the laser beam was emitted, to the object detection device 13 via the in-vehicle network 17. The reflected wave information is used in the object detection device 13 for the process of detecting the objects around the vehicle 10. The reflected wave information is an example of the information representing the surrounding environment of the vehicle 10.

[0033] The positioning information receiver 4 outputs positioning information representing the current position of the vehicle 10. For example, the positioning information receiver 4 can be a GNSS receiver. Each time the positioning information receiver 4 acquires the positioning information at a predetermined reception cycle, it outputs the positioning information and the positioning information acquisition time when the positioning information was acquired to the navigation device 5, the map information storage device 11, and the like.

[0034] Based on the navigation map information, the destination position of the vehicle 10 input from the UI6, and the positioning information representing the current position of the vehicle 10 input from the positioning information receiver 4, the navigation device 5 generates a navigation route from the current position of the vehicle 10 to the destination position. When the destination position is newly set, or when the current position of the vehicle 10 deviates from the navigation route, etc., the navigation device 5 newly generates the navigation route of the vehicle 10. Each time the navigation device 5 generates a navigation route, it outputs the navigation route to the position estimation device 12, the travel lane planning device 14, etc. via the in-vehicle network 17.

[0035] UI6 is an example of a notification unit. UI6 is controlled by the navigation device 5, the driving plan device 15, etc., and notifies the driver of driving information of the vehicle 10. The driving information of the vehicle 10 includes the current position of the vehicle 10, information on the current and future routes of the vehicle 10 such as a navigation route, etc. UI6 has a display device 6a such as a liquid crystal display or a touch panel in order to display driving information, etc. Further, UI6 may have an acoustic output device (not shown) for notifying the driver of driving information, etc. Also, UI6 generates an operation signal corresponding to an operation on the vehicle 10 from the driver. UI6 has, as an input device for inputting operation information from the driver to the vehicle 10, for example, a touch panel or operation buttons. Examples of the operation information include a destination, a waypoint, a vehicle speed, an inter-vehicle distance, and other control information of the vehicle 10. UI6 outputs the input operation information to the navigation device 5, the driving plan device 15, the vehicle control device 16, etc. via the in-vehicle network 17.

[0036] The monitoring camera 7 is disposed in the passenger compartment 30 so as to be able to capture a face image including the face of the driver 40 driving the vehicle 10. The monitoring camera 7 is an example of an imaging unit. The monitoring camera 7 captures a face image representing a situation including the driver's seat 31, for example, at a face image capturing time having a predetermined period. The monitoring camera 7 has a two-dimensional detector composed of an array of photoelectric conversion elements having sensitivity to infrared rays such as a CCD or a C-MOS, and an imaging optical system for forming an image of an area to be imaged on the two-dimensional detector. The face image is used in the driving plan device 15 for a process of estimating the direction of the driver 40's line of sight.

[0037] The vehicle speed sensor 8 detects speed information representing the speed of the vehicle 10. The vehicle speed sensor 8 has, for example, a measuring unit for measuring the rotation speed of the tire of the vehicle 10. The vehicle speed sensor 8 outputs the speed information to the driving plan device 15, etc. via the in-vehicle network 17. The speed information is used in the driving plan device 15 for a process of obtaining the speed of the vehicle 10.

[0038] The steering wheel 32 generates a steering signal according to the steering angle by the driver 40 and outputs it to the driving plan device 15 and the vehicle control device 16 via the in-vehicle network 17. The steering wheel 32 may have a grip sensor 321 that detects the grip of the driver 40. When the grip sensor 321 detects the grip of the steering wheel 32 by the driver 40, it generates a grip signal and outputs it to the driving plan device 15 etc. via the in-vehicle network 17.

[0039] The accelerator pedal 33 generates an accelerator operation signal according to the accelerator opening by the driver 40 and outputs it to the driving plan device 15 and the vehicle control device 16 via the in-vehicle network 17.

[0040] The brake pedal 34 generates a brake operation signal according to the brake amount by the driver 40 and outputs it to the driving plan device 15 and the vehicle control device 16 via the in-vehicle network 17.

[0041] The map information storage device 11 stores wide-area map information of a relatively wide range (for example, a range of 10 to 30 km square) including the current position of the vehicle 10. This map information has high-precision map information including three-dimensional information of the road surface, information representing road features such as lane dividing lines on the road, types and positions of structures, and the legal speed of the road. The map information storage device 11 receives wide-area map information from an external server via a base station by wireless communication via a wireless communication device (not shown) mounted on the vehicle 10 according to the current position of the vehicle 10 and stores it in the storage device. Each time the map information storage device 11 inputs positioning information from the positioning information receiver 4, it refers to the stored wide-area map information and outputs map information of a relatively narrow area (for example, a range of 100 m square to 10 km square) including the current position represented by the positioning information to the position estimation device 12, the object detection device 13, the driving lane planning device 14, the driving plan device 15, the vehicle control device 16, etc. via the in-vehicle network 17.

[0042] The position estimation device 12 estimates the position of the vehicle 10 at the time of camera image capture based on the road features around the vehicle 10 represented in the camera image captured by the camera 2a. For example, the position estimation device 12 compares the lane dividing lines identified in the camera image with the lane dividing lines represented in the map information input from the map information storage device 11 to obtain the estimated position and estimated azimuth angle of the vehicle 10 at the time of camera image capture. Further, the position estimation device 12 estimates the driving lane on the road where the vehicle 10 is located based on the lane dividing lines represented in the map information and the estimated position and estimated azimuth angle of the vehicle 10. Each time the position estimation device 12 obtains the estimated position, estimated azimuth angle, and driving lane of the vehicle 10 at the time of camera image capture, it outputs this information to the object detection device 13, the driving lane planning device 14, the driving plan device 15, the vehicle control device 16, and the like. Note that the position estimation device 12 may estimate the position of the vehicle 10 based on two camera images captured by the camera 2b.

[0043] The object detection device 13 detects the objects and their types in the left front, front, and right front of the vehicle 10 based on the camera image captured by the camera 2a. Further, the object detection device 13 detects the objects and their types in the left rear, rear, and right rear of the vehicle 10 based on the camera image captured by the camera 2b. The objects include other vehicles traveling around the vehicle 10. The object detection device 13 has, for example, an identifier that detects the objects represented in the image by inputting the camera image. As the identifier, for example, a deep neural network (DNN) pre-trained to detect the objects represented in the input image can be used. The object detection device 13 may use an identifier other than the DNN. For example, the object detection device 13 may use, as the identifier, a support vector machine (SVM) pre-trained to output the confidence level that the object to be detected is represented in the window by inputting the feature amount (for example, Histograms of Oriented Gradients, HOG) calculated from the window set on the camera image. Alternatively, the object detection device 13 may detect the object area by performing template matching between the template representing the object to be detected and the image.

[0044] In addition, based on the reflected wave information output by the LiDAR sensor 3a, the object detection device 13 detects objects in the left front, front, and right front of the vehicle 10, and based on the reflected wave information output by the LiDAR sensor 3b, detects objects in the left rear, rear, and right rear of the vehicle 10. The object detection device 13 obtains the orientation of the object with respect to the vehicle 10 based on the position of the object in the camera image, and based on this orientation and the reflected wave information output by the LiDAR sensors 3a and 3b, obtains the distance between this object and the vehicle 10. The object detection device 13 estimates the position of the object, for example, represented in the world coordinate system, based on the current position of the vehicle 10, the distance and orientation to the object with respect to the vehicle 10. In addition, the object detection device 13 tracks the object detected from the latest camera image by associating the object detected from the latest camera image with the object detected from the past image according to the tracking process based on the optical flow. Then, the object detection device 13 obtains the trajectory of the object being tracked based on the position represented in the world coordinate system of the object from the past image to the latest image. The object detection device 13 estimates the speed of the object with respect to the vehicle 10 based on the change in the position of the object over time. In addition, the object detection device 13 can estimate the acceleration of the object based on the change in the speed of the object over time. Furthermore, the object detection device 13 identifies the driving lane in which the object is traveling based on the lane dividing lines represented in the map information and the position of the object. For example, the object detection device 13 determines that the object is traveling in the lane specified by two adjacent lane dividing lines positioned so as to sandwich the center position of the object in the horizontal direction. The object detection device 13 outputs object detection information including information indicating the type of the detected object, information indicating its position, speed, acceleration, and information indicating the driving lane to the driving lane planning device 14, the driving plan device 15, the vehicle control device 16, etc. The position of the object includes the position of the center of gravity of this vehicle and the position of the rear end of the vehicle when the object is another vehicle. The object detection information is generated based on information representing the surrounding environment of the vehicle 10. Also, the object detection information is an example of information representing the surrounding environment of the vehicle 10.

[0045] The travel lane planning device 14 selects lanes within the road on which the vehicle 10 travels based on map information, the navigation route and surrounding environment information, and the current position of the vehicle 10 at the travel lane planning generation time set at a predetermined cycle, within the nearest driving section (for example, 10 km) selected from the navigation route, and generates a travel lane plan representing the planned travel lane on which the vehicle 10 travels. The travel lane planning device 14 generates a travel lane plan such that, for example, the vehicle 10 travels in a lane other than the overtaking lane. Each time the travel lane planning device 14 generates a travel lane plan, it outputs this travel lane plan to the driving plan device 15.

[0046] Also, the travel lane planning device 14 determines whether a lane change is necessary based on the travel lane plan, map information, the navigation route, and the current position of the vehicle 10 within the nearest driving section selected from the navigation route, and generates a lane change plan according to the determination result. The lane change plan includes a lane change planned section in which it is planned to move to an adjacent lane on the lane on which the vehicle 10 travels. Specifically, the travel lane planning device 14 determines whether a lane change is necessary in order to move to the lane leading to the destination position of the vehicle 10 based on the navigation route and the current position of the vehicle 10. The travel lane planning device 14 determines the presence or absence of the vehicle 10 entering from the current travel road into another road as the merging destination (merging), and the vehicle 10 exiting from the travel road to another road as the branching destination (branching). In the case of merging and branching, since the vehicle moves from the lane of the travel road to the lane of another road, a lane change is performed. The travel lane planning device 14 may further use the surrounding environment information or vehicle state information for determining whether a lane change is necessary. The surrounding environment information includes the position and speed of other vehicles traveling around the vehicle 10. The vehicle state information includes the current position of the vehicle 10, the vehicle speed, acceleration, and traveling direction. Also, the travel lane planning device 14 generates a lane change plan according to the driver's request. Information representing the vehicle speed and acceleration of the vehicle 10 is acquired using a sensor (not shown) mounted on the vehicle 10.

[0047] The driving plan device 15 executes planning processing, determination processing, and decision-making processing. For this purpose, the driving plan device 15 includes a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 includes an interface circuit for connecting the driving plan device 15 to the in-vehicle network 17.

[0048] The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores a computer program of an application and various data used in information processing executed by the processor 23.

[0049] All or part of the functions of the driving plan device 15 are functional modules realized by, for example, a computer program operating on the processor 23. The processor 23 includes a planning unit 231, a determination unit 232, and a decision-making unit 233. Alternatively, the functional module of the processor 23 may be a dedicated arithmetic circuit provided in the processor 23. The processor 23 includes one or more CPUs (Central Processing Units) and peripheral circuits thereof. The processor 23 may further include other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphic processing unit.

[0050] At the driving plan generation time set at a predetermined cycle, the planning unit 231 executes driving plan processing to generate a driving plan representing the planned driving trajectory of the vehicle 10 up to a predetermined time (for example, 5 seconds) ahead based on the driving lane plan, the map information, the current position of the vehicle 10, the surrounding environment information, and the vehicle state information. The driving plan is represented as a set of the target position of the vehicle 10 and the target vehicle speed at this target position at each time from the current time to a predetermined time ahead. The cycle at which the driving plan is generated is preferably shorter than the cycle at which the driving lane plan is generated. The planning unit 231 generates a driving plan so as to maintain an interval of a predetermined distance or more between the vehicle 10 and other vehicles. The planning unit 231 creates a driving plan so as to travel based on the speed set by the driver 40 (hereinafter also referred to as the set speed). Further, the planning unit 231 creates a driving plan so as to travel based on the inter-vehicle distance set by the driver 40 (hereinafter also referred to as the set inter-vehicle distance). Each time the planning unit 231 generates a driving plan, it outputs the driving plan to the vehicle control device 16. Other operations in the driving plan device 15 will be described later.

[0051] The vehicle control device 16 has two control modes with different degrees of involvement in the driving of the driver 40. The vehicle control device 16 controls the operation of the vehicle 10 according to the control mode.

[0052] For example, the vehicle control device 16 has an automatic driving mode with a low degree of involvement in the driving of the driver 40 (for example, a driving mode of levels 3 to 5) and a manual driving mode with a high degree of involvement in the driving of the driver 40 (for example, a driving mode of levels 0 to 2). In the automatic driving mode, the vehicle control device 16 mainly drives the vehicle 10. In the manual driving mode, the driver 40 mainly drives the vehicle 10.

[0053] In addition, in the automatic driving mode where the degree of involvement in the operation of the driver 40 is low, part or all of the driving operations required for the vehicle 10 to travel are automatically executed, and in the manual driving mode where the degree of involvement in the operation of the driver 40 is high, the types of driving operations to be automatically executed may be less or zero than those in the driving mode where the degree of involvement in the operation of the driver 40 is low.

[0054] When the vehicle 10 is driven in the automatic driving mode, the vehicle control device 16 controls each part of the vehicle 10 based on the current position of the vehicle 10, the vehicle speed and yaw rate, and the driving plan generated by the driving plan device 15. For example, the vehicle control device 16 obtains the steering angle, acceleration, and angular acceleration of the vehicle 10 according to the driving plan, the vehicle speed, and the yaw rate of the vehicle 10, and sets the steering amount, accelerator opening, or brake amount so as to be the steering angle, acceleration, and angular acceleration. Then, the vehicle control device 16 outputs a control signal corresponding to the set steering amount to an actuator (not shown) that controls the steering wheel of the vehicle 10 via the in-vehicle network 17. In addition, the vehicle control device 16 outputs a control signal corresponding to the set accelerator opening to a drive device (not shown) such as an engine or motor of the vehicle 10 via the in-vehicle network 17. Alternatively, the vehicle control device 16 outputs a control signal corresponding to the set brake amount to a brake (not shown) of the vehicle 10 via the in-vehicle network 17.

[0055] On the other hand, in the manual driving mode, the driver 40 operates the vehicle 10 using the steering wheel 32, accelerator pedal 33, and brake pedal 34. When the vehicle 10 is manually driven, the vehicle control device 16 controls the steering wheel, drive device, or brake according to a steering signal, accelerator operation signal, or brake operation signal by the operation of the driver 40. In the manual driving mode, at least one of the operations of driving, braking, and steering of the vehicle 10 is manually controlled. It is also possible to change from automatic control to manual control according to the request of the driver 40.

[0056] In addition, even when the vehicle 10 is being driven in the autonomous driving mode, when a steering signal, an accelerator operation signal, or a brake operation signal is output due to the operation of the driver 40, the vehicle control device 16 controls the steering wheel, the drive device, or the brake based on these signals.

[0057] The driving plan device 15 is, for example, an electronic control unit (ECU). In FIG. 2, the map information storage device 11, the position estimation device 12, the object detection device 13, the traveling lane planning device 14, the driving plan device 15, and the vehicle control device 16 are described as separate devices, but all or part of these devices may be configured as a single device.

[0058] FIG. 3 is an example of an operation flowchart regarding the vehicle control process of the driving plan device 15 of the present embodiment. Hereinafter, the vehicle control process of the driving plan device 15 will be described with reference to FIG. 3. The driving plan device 15 executes a vehicle control process according to the operation flowchart shown in FIG. 3 at a vehicle control time having a predetermined cycle.

[0059] First, the determination unit 232 determines whether the vehicle 10 is located in a blind spot area of another vehicle based on information representing the surrounding environment of the vehicle 10 (blind spot determination process) (step S101). The blind spot determination process will be described later with reference to FIG. 4. The determination unit 232 is an example of a first determination unit.

[0060] When the vehicle 10 is located in the blind spot area of another vehicle (step S101 - Yes), the determination unit 232 and the decision unit 233 execute a blind spot avoidance process to determine the direction in which the speed of the vehicle 10 is to be changed in order to move the vehicle 10 out of the blind spot area (step S102). The blind spot avoidance process will be described later with reference to FIG. 5. In the blind spot avoidance process, it is determined to start movement control to move the vehicle 10 out of the blind spot area of the other vehicle by changing the speed of the vehicle 10 in either the accelerating direction or the decelerating direction. The decision unit 233 is an example of a first decision unit. The planning unit 231 generates a driving plan including movement control based on the determination of the blind spot avoidance process. The vehicle control device 16 executes movement control based on this driving plan.

[0061] Next, during the execution of the movement control, the determination unit 232 determines whether an operation to change the speed of the vehicle 10 by the driver 40 has been executed in a direction opposite to the direction in which the speed of the vehicle 10 changes due to the movement control, based on the information representing the operation of the driver 40 of the vehicle 10 (driver determination process) (step S103). The driver determination process will be described later with reference to FIG. 6. The determination unit 232 is an example of a second determination unit.

[0062] When an operation to change the speed of the vehicle 10 by the driver 40 has been executed in the opposite direction (step S103 - Yes), the decision unit 233 determines to end the movement control (step S104) and ends the series of processes. The decision unit 233 is an example of a second decision unit.

[0063] On the other hand, when an operation to change the speed of the vehicle 10 by the driver 40 in the opposite direction is not being performed (step S103 - No), the determination unit 232 determines whether the position of the vehicle 10 is at a predetermined distance from other vehicles (step S105). The determination unit 232 determines that the vehicle 10 is at a predetermined distance away when the distance in the traveling direction of the vehicle 10 between the vehicle 10 and another vehicle traveling in the adjacent lane is equal to or greater than a predetermined distance (for example, 35 m). The vehicle 10 is not located in the blind spot area of other vehicles. Also, since the vehicle 10 is at a sufficient distance from other vehicles, and there is a low possibility that the vehicle 10 will immediately enter the blind spot area of other vehicles, the movement control will end.

[0064] On the other hand, when the distance in the traveling direction of the vehicle 10 between the vehicle 10 and another vehicle traveling in the adjacent lane is less than the predetermined distance, the determination unit 232 determines that the vehicle 10 is not at a predetermined distance away. In this case, the movement control will continue.

[0065] When the vehicle 10 is at a predetermined distance away (step S105 - Yes), the process proceeds to step S104. On the other hand, when the vehicle 10 is not at a predetermined distance away (step S105 - No), the process returns to step S103.

[0066] Also, when the vehicle 10 is not located in the blind spot area of other vehicles (step S101 - No), the series of processes ends.

[0067] FIG. 4 is an example of an operation flowchart regarding the blind spot determination process of the driving plan device according to the present embodiment. The driving plan device 15 executes a blind spot determination process according to the operation flowchart shown in FIG. 4 at a blind spot determination time having a predetermined period. The determination unit 232 makes a determination based on the determination result of the blind spot determination process executed according to the operation flowchart shown in FIG. 4 in step S101 described above.

[0068] First, the determination unit 232 determines whether the speed of the vehicle 10 is equal to or higher than a reference speed (step S201). The determination unit 232 obtains the speed of the vehicle 10 based on the speed information. For example, the determination unit 232 obtains the most recent average speed (e.g., the average speed over 5 seconds) as the speed of the vehicle 10 based on the vehicle speed information. The reference speed can be set to be between 50 km / h and 60 km / h. Alternatively, the determination unit 232 may determine whether the speed of the vehicle 10 is within a reference speed range.

[0069] When the speed of the vehicle 10 is equal to or higher than the reference speed (step S201 - Yes), the determination unit 232 determines whether there is another vehicle located on an adjacent lane adjacent to the lane on which the vehicle 10 is traveling within a predetermined range from the current position of the vehicle 10 (step S202). The predetermined range can be set to, for example, 10 m. The determination unit 232 obtains the current position of the vehicle 10 from the position estimation device 12. The determination unit 232 obtains the position of another vehicle on the adjacent lane based on the object detection information.

[0070] When there is another vehicle located on the adjacent lane (step S202 - Yes), the determination unit 232 determines whether the positional relationship between the vehicle 10 and the other vehicle on the adjacent lane satisfies a predetermined relationship (step S203). The determination unit 232 determines that the predetermined relationship is satisfied when the position of the front end of the vehicle 10 is within a predetermined range with respect to the position of the rear end of the other vehicle in the traveling direction of the vehicle 10. The determination unit 232 obtains the position of the front end of the vehicle 10 based on the current position of the vehicle 10 (e.g., the position of the center of gravity of the vehicle 10) and the distance between the center of gravity and the front end of the vehicle 10. The distance between the center of gravity and the front end of the vehicle 10 is stored in the memory 22. Also, the determination unit 232 obtains the position of the rear end of the other vehicle based on the object detection information.

[0071] In the example of FIG. 1(A), the range of the front - rear distance L along the traveling direction of the vehicle 10 with respect to the position of the rear end of the vehicle 60 is the blind spot area D of the vehicle 10. Since the position of the front end of the vehicle 10 is within the range of the distance L with respect to the position of the rear end of the vehicle 60 on the adjacent lane 52 in the traveling direction of the vehicle 10, the determination unit 232 determines that the predetermined relationship is satisfied.

[0072] When the positional relationship satisfies a predetermined relationship (Step S203 - Yes), the determination unit 232 determines whether a predetermined reference time has elapsed in a state where the positional relationship satisfies the predetermined relationship (Step S204). As the reference time, for example, it can be set to 7 seconds. The cycle of the blind spot determination time is preferably shorter than the reference time. In this case, after the determination unit 232 determines that the vehicle 10 has not been located in the blind spot area most recently, the determination unit 232 determines whether the time elapsed since the time when it was first determined that the positional relationship satisfies the predetermined relationship exceeds the reference time.

[0073] When the reference time has elapsed (Step S204 - Yes), the determination unit 232 determines that the vehicle 10 is located in the blind spot area of another vehicle (Step S205), and ends a series of processes.

[0074] On the other hand, when the speed of the vehicle 10 is lower than the reference speed (Step S201 - No), when there is no other vehicle located in the adjacent lane (Step S202 - No), when the positional relationship does not satisfy the predetermined relationship (Step S203 - No), or when the reference time has not elapsed (Step S204 - No), the determination unit 232 determines that the vehicle 10 is not located in the blind spot area of another vehicle (Step S206), and ends a series of processes. The above is the description of the blind spot determination process.

[0075] FIG. 5 is an example of an operation flowchart regarding the blind spot avoidance process of the driving plan device 15 according to the present embodiment. In step S102 described above, the driving plan device 15 executes the blind spot avoidance process according to the operation flowchart shown in FIG. 5.

[0076] First, the determination unit 232 determines whether the vehicle 10 can overtake other vehicles traveling in the adjacent lane (step S301). For example, the determination unit 232 determines whether the set speed of the vehicle 10 is higher than the speed of other vehicles traveling in the adjacent lane. The determination unit 232 acquires the speed of other vehicles traveling in the adjacent lane based on the object detection information. Note that instead of the set speed, the most recent average speed of the vehicle 10 (e.g., the average speed over 5 seconds) may be used.

[0077] When the set speed of the vehicle 10 is higher than the speed of other vehicles, the determination unit 232 determines whether a predetermined reference distance can be ensured between the vehicle 10 and other vehicles on the driving lane on which the vehicle 10 travels when the vehicle 10 overtakes other vehicles traveling in the adjacent lane.

[0078] The determination unit 232 estimates the position of this other vehicle at the time when the vehicle 10 overtakes other vehicles traveling in the adjacent lane. The determination unit 232 estimates the time required for the vehicle 10 to overtake other vehicles traveling in the adjacent lane, and estimates the position of the other vehicle when this estimated time has elapsed.

[0079] The determination unit 232 estimates the separation distance between the position of the vehicle 10 and the position of this other vehicle at the time when the vehicle 10 overtakes other vehicles traveling in the adjacent lane. When the distance in the traveling direction of the vehicle 10 between the vehicle 10 and other vehicles traveling in the adjacent lane is separated by a predetermined distance (e.g., 35 m) or more, the determination unit 232 determines that the vehicle 10 can overtake other vehicles traveling in the adjacent lane. On the other hand, when the distance in the traveling direction of the vehicle 10 between the vehicle 10 and other vehicles traveling in the adjacent lane is less than the predetermined distance, the determination unit 232 determines that the vehicle 10 cannot overtake other vehicles traveling in the adjacent lane. Also, when the set speed of the vehicle 10 is not higher than the speed of other vehicles, the determination unit 232 determines that the vehicle 10 cannot overtake other vehicles traveling in the adjacent lane.

[0080] When overtaking is not possible (step S301 - No), the determination unit 233 determines to decelerate the vehicle 10 and start movement control (step S302), and ends a series of processes. The determination unit 233 notifies the planning unit 231 of starting the movement control. The planning unit 231 generates a driving plan to execute the movement control. In this movement control, the planning unit 231 decelerates the vehicle 10 and moves the vehicle 10 out of the blind spot area of another vehicle on the adjacent lane, and along the traveling direction of the vehicle 10, follows the vehicle 10 behind this other vehicle with a predetermined distance (for example, 7 m) interval. Thereby, the planning unit 231 escapes the vehicle 10 from the blind spot area of another vehicle and prevents the vehicle 10 from being located in the blind spot area again.

[0081] On the other hand, when overtaking is possible (step S301 - Yes), the determination unit 233 determines to accelerate the vehicle 10 and start movement control (step S303), and ends a series of processes. The determination unit 233 notifies the planning unit 231 of starting the movement control. The planning unit 231 generates a driving plan to execute the movement control. In this movement control, the planning unit 231 generates a driving plan to move the vehicle 10 out of the blind spot area of another vehicle on the adjacent lane at the set speed. Thereby, the planning unit 231 escapes the vehicle 10 from the blind spot area of another vehicle. The above is the description of the blind spot avoidance process.

[0082] FIG. 6 is an example of an operation flowchart regarding the driver determination process of the driving plan device 15 of the present embodiment. The driving plan device 15 executes the driver determination process according to the operation flowchart shown in FIG. 6 in step S103 described above.

[0083] First, based on the information representing the operation of the driver 40 of the vehicle 10, the determination unit 232 determines whether an operation to set the speed of the vehicle 10 by the driver 40 has been executed in a direction opposite to the direction in which the speed of the vehicle 10 changes due to movement control (step S401). The direction in which the speed of the vehicle 10 changes due to movement control includes the direction of accelerating the speed and the direction of decelerating the speed. When an operation signal associated with an operation to change the set speed is input by an operation of the UI6 by the driver 40, the determination unit 232 determines that an operation to change the set speed set by the driver 40 for the vehicle 10 has been performed. The operation signal associated with the operation to change the set speed is an example of the information representing the operation of the driver of the vehicle 10.

[0084] After the movement control to decelerate the vehicle 10 is started by the vehicle control device 16, if the UI6 is operated by the driver 40 to increase the set speed, the determination unit 232 determines that an operation to set the speed of the vehicle 10 by the driver 40 has been executed. On the other hand, after the movement control to decelerate the vehicle 10 is started by the vehicle control device 16, if the UI6 is not operated by the driver 40 to increase the set speed, the determination unit 232 determines that an operation to set the speed of the vehicle 10 by the driver 40 has not been executed.

[0085] Also, after the movement control to accelerate the vehicle 10 is started by the vehicle control device 16, if the UI6 is operated by the driver 40 to reduce the set speed, the determination unit 232 determines that an operation to set the speed of the vehicle 10 by the driver 40 has been executed. On the other hand, after the movement control to accelerate the vehicle 10 is started by the vehicle control device 16, if the UI6 is not operated by the driver 40 to reduce the set speed, the determination unit 232 determines that an operation to set the speed of the vehicle 10 by the driver 40 has not been executed.

[0086] When an operation to change the set speed is not performed by the driver 40 (step S401 - No), the determination unit 232 determines whether the driver 40 has operated the accelerator pedal 33 or the brake pedal 34 in a direction opposite to the direction in which the speed of the vehicle 10 changes by movement control (step S402). When an accelerator operation signal is input, the determination unit 232 determines that the driver 40 has operated the accelerator pedal 33. When a brake operation signal is input, the determination unit 232 determines that the driver 40 has operated the brake pedal 34. The accelerator operation signal and the brake operation signal are examples of information representing the operation of the driver of the vehicle 10.

[0087] After the movement control is started by the vehicle control device 16 to decelerate the vehicle 10, if the driver 40 operates the accelerator pedal 33, the determination unit 232 determines that the driver 40 has operated the accelerator pedal 33. On the other hand, after the movement control is started by the vehicle control device 16 to decelerate the vehicle 10, if the driver 40 does not operate the accelerator pedal 33, the determination unit 232 determines that the driver 40 has not operated the accelerator pedal 33.

[0088] Also, after the movement control is started by the vehicle control device 16 to accelerate the vehicle 10, if the driver 40 operates the brake pedal 34, the determination unit 232 determines that the driver 40 has operated the brake pedal 34. On the other hand, after the movement control is started by the vehicle control device 16 to accelerate the vehicle 10, if the driver 40 does not operate the brake pedal 34, the determination unit 232 determines that the driver 40 has not operated the brake pedal 34.

[0089] Depending on the vehicle control device 16, the operation of the brake pedal 34 by the driver 40 may mean the end of the automatic driving mode. In such a case, since it is unclear whether the operation of the brake pedal 34 by the driver 40 is for the purpose of decelerating the vehicle 10 or is requesting the end of the automatic driving mode, it is preferable not to perform the driver determination process based on the operation of the brake pedal 34.

[0090] When the driver 40 operates the accelerator pedal 33 or the brake pedal 34 (step S402 - Yes), or when the driver 40 changes the set speed (step S401 - Yes), the determination unit 232 determines that the driver 40 has executed an operation to change the speed of the vehicle 10 (step S403), and ends a series of processes.

[0091] On the other hand, when the driver 40 does not operate the accelerator pedal 33 or the brake pedal 34 (step S402 - No), it is determined that the driver 40 has not executed an operation to change the speed of the vehicle 10 (step S404), and a series of processes are ended.

[0092] In step S401 described above, when the driver 40 holds the steering wheel 32 or is gazing at a speed display unit (not shown), and the driver 40 changes the set speed for setting the speed of the vehicle 10 in a direction opposite to the direction in which the speed of the vehicle 10 changes by movement control, the determination unit 232 may be configured to determine that the driver 40 has executed an operation to change the speed of the vehicle 10. Thereby, it can be determined more accurately that the driver 40 is trying to change the speed of the vehicle 10 in a direction opposite to the direction in which the speed of the vehicle 10 changes by movement control. Note that the UI6 may be the speed display unit.

[0093] For example, when a gripping signal indicating that the driver 40 is gripping the steering wheel 32 is input to the driving plan device 15, the determination unit 232 determines that the driver 40 is gripping the steering wheel 32.

[0094] Further, the determination unit 232 estimates the line-of-sight direction of the driver 40 based on the face image captured by the monitoring camera 7. Based on this line-of-sight direction, the fixation position of the driver 40 is estimated. Then, when the state where the fixation position of the driver 40 coincides with the speed display unit continues for a predetermined time (for example, 5 seconds), the determination unit 232 determines that the driver 40 is gazing at the speed display unit. As a technique for estimating the fixation position based on the face image, a known technique can be used. The above is the description of the driver determination process.

[0095] As described above, after the driving plan device of the present embodiment starts the movement control for moving the vehicle outside the blind spot area of another vehicle by changing the speed of the vehicle, when an operation is executed by the driver to change the speed of the vehicle in the opposite direction, the movement control is terminated. Thereby, the driving plan device of the present embodiment can reduce the driver's sense of discomfort with respect to the vehicle speed control.

[0096] Next, a modified example of the driving plan device of the above-described embodiment will be described below with reference to FIGS. 7 and 8. FIG. 7 is an example of an operation flowchart regarding vehicle control processing of a modified example of the driving plan device of the present embodiment.

[0097] In this modified example, the difference from the vehicle control processing shown in FIG. 4 is that the processes of steps S504 and S507 are added. The processes of steps S501 to S503, S506, and S506 are the same as steps S101 to 106 described above.

[0098] When an operation is performed to change the speed of the vehicle 10 by the driver 40 in the opposite direction (step S503 - Yes), the determination unit 232 determines whether a predetermined reference inter-vehicle distance can be maintained between the vehicle 10 and other vehicles traveling on the travel lane on which the vehicle 10 is traveling when the vehicle 10 moves from the blind spot area of another vehicle in the adjacent lane to outside this blind spot area by changing the speed of the vehicle 10 by the operation of the driver 40 (step S504). The determination unit 232 is an example of a third determination unit. As the reference inter-vehicle distance, for example, a set inter-vehicle distance can be used.

[0099] First, based on the object detection information, the determination unit 232 determines whether there is another vehicle located on the travel lane on which the vehicle 10 is traveling within a predetermined range from the current position of the vehicle 10. When there is another vehicle located on the travel lane, the determination unit 232 estimates the position (first position) of the vehicle 10 when the vehicle 10 moves from the blind spot area of another vehicle in the adjacent lane to outside this blind spot area when the speed of the vehicle 10 is changed by the operation of the driver 40. The determination unit 232 estimates the position (first position) of the vehicle 10 when the vehicle 10 moves from the blind spot area of another vehicle in the adjacent lane to outside this blind spot area when the vehicle 10 travels at the set speed set by the driver 40. Alternatively, the determination unit 232 estimates the speed of the vehicle 10 after it changes based on the operation amount of the accelerator pedal 33 or the brake pedal 34 by the driver 40, and estimates the position (first position) of the vehicle 10 when the vehicle 10 moves from the blind spot area of another vehicle in the adjacent lane to outside this blind spot area when the vehicle 10 travels at this speed.

[0100] In addition, the determination unit 232 estimates the time required for the vehicle 10 to move from the blind spot area of another vehicle in the adjacent lane to outside this blind spot area when the speed of the vehicle 10 is changed by the operation of the driver 40. Then, the determination unit 232 estimates the position (second position) of the other vehicle on the travel lane at the time when the vehicle 10 moves from the blind spot area of another vehicle in the adjacent lane to outside this blind spot area. Then, the determination unit 232 obtains the separation distance between the first position and the second position. The determination unit 232 determines whether this separation distance is equal to or greater than the reference inter-vehicle distance.

[0101] When the separation distance is greater than or equal to a predetermined inter-vehicle distance or when there is no other vehicle on the driving lane, the determination unit 232 determines that a predetermined inter-vehicle distance can be maintained between the other vehicle and the vehicle 10. On the other hand, when the separation distance is less than the reference inter-vehicle distance, the determination unit 232 determines that a predetermined inter-vehicle distance cannot be maintained between the other vehicle and the vehicle 10. If the reference inter-vehicle distance cannot be maintained between the vehicle 10 and the other vehicle on the driving lane, there is a risk that the safety of the vehicle 10 cannot be ensured.

[0102] When a predetermined inter-vehicle distance can be maintained between the other vehicle and the vehicle 10 (step S504 - Yes), the process proceeds to step S505.

[0103] On the other hand, when a predetermined inter-vehicle distance cannot be maintained between the other vehicle and the vehicle 10 (step S504 - No), the decision unit 233 decides to continue without ending the movement control (step S507). Then, the process proceeds to step S506.

[0104] FIG. 8(A) and FIG. 8(B) are diagrams for explaining the vehicle control process of a modified example of the driving plan device 15 of the present embodiment. FIG. 8(A) is a diagram of an example of continuing the movement control, and FIG. 8(B) is a diagram of an example of ending the movement control.

[0105] In the example of FIG. 8(A), the determination unit 232 determines that the vehicle 10 is located in the blind spot area D of the vehicle 60. The decision unit 233 decides to start movement control to move the vehicle 10 out of the blind spot area D of the vehicle 60 by decelerating the vehicle 10.

[0106] On the other hand, since the driver 40 wants to get in front of the vehicle 60, the driver feels a sense of discomfort with the speed control of the vehicle 10 and tries to operate to accelerate the vehicle 10.

[0107] When the determination unit 232 accelerates the vehicle 10 by the operation of the driver 40 and the vehicle 10 moves out of the blind spot area D of the vehicle 60, it is estimated that the separation distance between the vehicle 70 traveling on the lane 51 and the vehicle 10 is M1.

[0108] Since the separation distance M1 is less than the reference inter-vehicle distance, the determination unit 233 determines to continue without ending the movement control.

[0109] Also, in the example of FIG. 8(B) as well, the determination unit 232 determines that the vehicle 10 is located in the blind spot area D of the vehicle 60.

[0110] The determination unit 233 determines to start movement control to move the vehicle 10 out of the blind spot area D of the vehicle 60 by decelerating the vehicle 10.

[0111] On the other hand, since the driver 40 wanted to get in front of the vehicle 60, the driver felt a sense of discomfort with the speed control of the vehicle 10 and operated to accelerate.

[0112] When the determination unit 232 changes the speed of the vehicle 10 by the operation of the driver 40 and the vehicle 10 moves out of the blind spot area D of the vehicle 60, it is estimated that the separation distance between the vehicle 70 and the vehicle 10 is M2.

[0113] Since the separation distance M2 is greater than or equal to the reference inter-vehicle distance, the determination unit 233 determines to end the movement control.

[0114] According to the driving plan device of the present modification described above, even if an operation to change the speed of the vehicle in the opposite direction is performed by the driver after the movement control is started, if a predetermined inter-vehicle distance can be maintained between the vehicle and other vehicles on the driving lane, the movement control is ended. Thereby, the driving plan device of the present embodiment can reduce the driver's sense of discomfort with respect to the speed control of the vehicle.

[0115] On one hand, if it is impossible to maintain a predetermined inter-vehicle distance between a vehicle and other vehicles on a driving lane, the movement control is continued. Thereby, the driving plan device of the present embodiment can ensure the safety of the vehicle.

[0116] In the present disclosure, the vehicle control device, the vehicle control computer program, and the vehicle control method of the above-described embodiment can be appropriately changed without departing from the gist of the present disclosure. Further, the technical scope of the present disclosure is not limited to those embodiments, and extends to the invention described in the claims and its equivalents.

[0117] For example, in the above-described embodiment, in the driver determination process, the presence or absence of a change in the set speed and the presence or absence of a pedal operation are determined. However, in this driver determination process, only one of the presence or absence of a change in the set speed and the presence or absence of a pedal operation may be determined. In this case, only one of step S401 or S402 is executed. If only step S401 is performed and the operation of setting the speed of the vehicle 10 by the driver 40 is not executed (step S401 - No), the process proceeds to step S404. When only step S402 is performed, step S401 is omitted.

Explanation of Reference Numerals

[0118] 1 Vehicle control system 2a, 2b Camera 3a, 3b LiDAR sensor 4 Positioning information receiver 5 Navigation device 6 User interface 6a Display device 7 Surveillance camera 8 Vehicle speed sensor 10 Vehicle 11 Map information storage device 12 Position estimation device 13 Object detection device 14 Driving lane planning device 15 Driving plan device 21 Communication interface 22 Memory 23 Processor 231 Planning Unit 232 Judgment Unit 233 Decision Unit 16 Vehicle Control Device 17 In-Vehicle Network

Claims

1. A first determination unit that determines whether the host vehicle is located in a blind spot area of another vehicle based on information representing the surrounding environment of the host vehicle; A first determination unit that, when it is determined that the host vehicle is located in a blind spot area of another vehicle, determines to start movement control to move the host vehicle out of the blind spot area of the other vehicle by changing the speed of the host vehicle in a predetermined direction; During the execution of the movement control determined to be started by the first determination unit, based on information representing the operation of the driver of the host vehicle, a second determination unit that determines whether an operation to change the speed of the host vehicle by the driver has been executed in a direction opposite to the predetermined direction; A second determination unit that, when it is determined by the second determination unit that the operation to change the speed of the host vehicle by the driver has been executed, determines to end the movement control; When it is determined by the second determination unit that the operation to change the speed of the host vehicle by the driver has been executed, a third determination unit that determines whether a predetermined inter-vehicle distance can be maintained between the host vehicle and a second other vehicle traveling on the lane on which the host vehicle is traveling when the host vehicle moves out of the blind spot area of the other vehicle by changing the speed of the host vehicle by the operation of the driver; characterized by comprising When it is determined by the third determination unit that the predetermined inter-vehicle distance cannot be maintained between the second other vehicle and the host vehicle, the second determination unit determines to continue without ending the movement control. A vehicle control device characterized by this.

2. The vehicle control device according to claim 1, wherein the second determination unit determines that an operation to change the speed of the host vehicle by the driver has been executed when an operation to set the speed of the host vehicle by the driver has been executed in a direction opposite to the predetermined direction.

3. The vehicle control device according to claim 2, wherein the second determination unit determines that an operation to change the speed of the host vehicle by the driver has been executed when the driver is gripping the steering wheel or gazing at the speed display unit and an operation to set the speed of the host vehicle by the driver has been executed in a direction opposite to the predetermined direction.

4. Based on information representing the surrounding environment of the host vehicle, it is determined whether the host vehicle is located in a blind spot area of another vehicle, When it is determined that the host vehicle is located in the blind spot area of another vehicle, it is determined to start movement control to move the host vehicle from the blind spot area of the other vehicle to outside the blind spot area by changing the speed of the host vehicle in a predetermined direction. During the execution of the movement control, based on information representing the operation of the driver of the host vehicle, it is determined whether an operation to change the speed of the host vehicle by the driver is executed in a direction opposite to the predetermined direction. When it is determined that the operation to change the speed of the host vehicle by the driver is executed, it is determined to end the movement control, and when the speed of the host vehicle is changed by the operation of the driver and the host vehicle moves from the blind spot area of the other vehicle to outside the blind spot area, it is determined whether a predetermined inter-vehicle distance can be maintained between the host vehicle and a second other vehicle traveling on the lane on which the host vehicle is traveling. Causing a processor to execute a process including this. A vehicle control computer program, characterized in that when it is determined that the predetermined inter-vehicle distance cannot be maintained between the second other vehicle and the host vehicle, it is determined to continue without ending the movement control.

5. A vehicle control device Based on information representing the surrounding environment of the host vehicle, determines whether the host vehicle is located in the blind spot area of another vehicle. When it is determined that the host vehicle is located in the blind spot area of another vehicle, it is determined to start movement control to move the host vehicle from the blind spot area of the other vehicle to outside the blind spot area by changing the speed of the host vehicle in a predetermined direction. During the execution of the movement control, based on information representing the operation of the driver of the host vehicle, it is determined whether an operation to change the speed of the host vehicle by the driver is executed in a direction opposite to the predetermined direction. When it is determined that the operation to change the speed of the host vehicle by the driver is executed, it is determined to end the movement control, and when the speed of the host vehicle is changed by the operation of the driver and the host vehicle moves from the blind spot area of the other vehicle to outside the blind spot area, it is determined whether a predetermined inter-vehicle distance can be maintained between the host vehicle and a second other vehicle traveling on the lane on which the host vehicle is traveling. Executing this A vehicle control computer program, characterized in that when it is determined that the predetermined inter-vehicle distance cannot be maintained between the second other vehicle and the host vehicle, it is determined to continue without ending the movement control.

Images